To execute the plan of each source robot \(i\in \mathcal {N}^f\) , we need to ensure that its stored data is transferred to at least one relay robot \(j\in \mathcal {N}^l\)  before its buffer overflows.
The main difficulty lies in the limited communication range for both source and relay robots, meaning that both data transfer and coordination are only possible when two robots are within each other's communication range.
As discussed in Section , instead of imposing all-time connectivity as in most related work [1]}, [2]}, [3]}, [4]}, [5]}, we propose here a distributed online coordination scheme where the communication network is allowed to become disconnected.
